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http://dx.doi.org/10.14372/IEMEK.2022.17.2.115

Distributed Model Predictive Formation Control of UGV Swarm Guaranteeing Collision Avoidance  

Park, Seong-Chang (Soonchunhyang University)
Lee, Seung-Mok (Soonchunhyang University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.17, no.2, 2022 , pp. 115-121 More about this Journal
Abstract
This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.
Keywords
Formation Control; Model Predictive Control; UGV (Unmanned Ground Vehicle); ROS (Robot Operating System);
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Times Cited By KSCI : 1  (Citation Analysis)
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